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Hierarchical Reinforcement Learning for Quadruped Locomotion.
Deepali Jain
Atil Iscen
Ken Caluwaerts
Published in:
IROS (2019)
Keyphrases
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hierarchical reinforcement learning
quadruped robot
legged robots
rough terrain
reinforcement learning
mobile robot
model free
state abstraction
reward function
machine learning
state space
optimal policy
convergence rate
markov decision process
average reward